The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The primary challenge of descending steep, loose slopes is avoiding avalanche, tipover and maintaining control of locomotion. Theory suggests that for loose, granular soil,the strength lies under, not on, the surface. This has not hitherto been exploited for controlling robot descent. In order to take advantage of this, a prototype robot capable of utilizing sub-surface strength was developed and tested. Two unique features are low center-of gravity and an actuated plow capable of penetrating the ground for controlling descent and facilitating pivot. Tests show unprecedented control during descent on loose soil slopes up to 40 degrees. Avalanche sliding is reduced twenty-fold , pivot turning is improved threefold.

Keywords

lunar, mobility, moon, plow, slip, rover, track, icebreaker, highlander

Notes

Sponsor: NASA

Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center

Associated Project(s): Lunar Ice Discovery Initiative

Text Reference

Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker, "Technologies Toward Lunar Crater Exploration," tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007

BibTeX Reference

@techreport{Ziglar_2007_5927,
   author = "Jason Ziglar and David Kohanbash and David Wettergreen and William (Red) L. Whittaker",
   title = "Technologies Toward Lunar Crater Exploration",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "2007",
   number= "CMU-RI-TR-07-40",
   address= "Pittsburgh, PA",
}

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